摘要
针对涡旋机侧向密封过程中,动涡盘和静涡盘接触力难以控制的问题,结合动涡盘圆周平动特点,在分析了涡盘接触力模型的基础上,提出了一种基于法向-切向坐标系下的动涡盘运动控制策略以及主动柔顺控制方法。首先,介绍了经典柔顺控制的原理,分析了XY直角坐标系下经典柔顺控制方法的不足;然后,提出了法向-切向坐标系这一概念,通过推导基于法向-切向坐标系下各运动变量之间的关系,对动涡盘的运动控制系统进行了总体设计;最后,采用MATLAB/Simulink软件搭建了涡旋机的接触力模型及其控制模型,并采用模型对上述方法进行了可行性验证,采用实验分别得到了动涡盘平动速率不变而接触力设定值改变时的实际接触力曲线,以及接触力设定值不变而动涡盘平动速率改变时的实际接触力曲线。研究结果表明:接触力的实际值与设定值的跟踪误差在2%以内;改变接触力的设定值后,接触力的实际值能在0.3 s左右跟踪到新的设定值;当动涡盘平动速率突然改变后,接触力的实际值能在0.2 s左右回到原来的平衡状态。以上结果说明,基于法向-切向坐标系下的主动柔顺控制方法可以有效地控制涡盘平动过程中的接触力。
In view of the problem that the contact force between the moving and stationary scroll disks was difficult to control in the process of the side sealing of the scroll turbine,combined with the characteristics of the circular translation of the moving scroll disk and through the analysis of the contact force model of the scroll disk,the motion control method of the moving scroll disk based on the normal-tangential coordinate system and the active compliance control method was proposed.Firstly,the principle of classical compliance control was introduced,and the shortcomings of classical compliance control method in XY rectangular coordinate system were analyzed.Then,the concept of normal-tangent coordinate system was proposed.By deducing the relationship between the motion variables based on the normal-tangential coordinate system,the overall design of the motion control system of the moving scroll plate was made.Finally,the contact force model and control model of the scroll machine under MATLAB/Simulink software were built to verify the feasibility of the above methods.The actual contact force curve occurred when the translational speed of the moving scroll disk was unchanged but the contact force setting value changed,and the actual contact force curve occurred when the contact force setting value was unchanged but the translational speed of the moving scroll disk changed,were obtained respectively from the research.The research results show that the tracking error between the actual value of the contact force and the set value is within 2%,after changing the set value of the contact force,the actual value of the contact force can be tracked to the new set value within about 0.3 s.When the translational speed of the moving vortex disk suddenly changes,the actual value of the contact force can return to the original equilibrium state in about 0.2 s.It is shown that the active compliance control method based on the normal tangential coordinate system can effectively control the contact force during the translation
作者
方颢
蔡炯炯
瞿晓
董桂丽
屠凯莉
FANG Hao;CAI Jiongjiong;QU Xiao;DONG Guili;TU Kaili(School of Automation and Electrical Engineering,Zhejiang University of Science and Technology,Hangzhou 310023,China)
出处
《机电工程》
CAS
北大核心
2023年第10期1527-1534,共8页
Journal of Mechanical & Electrical Engineering
基金
浙江省自然科学基金资助项目(LY21E070002,LY17E070002)
浙江省公益技术应用研究项目(LGG22E070006)。
关键词
容积式压缩机
涡旋压缩机
涡盘工作空间
涡盘接触力模型
主动柔顺控制
坐标变换
positive displacement compressor
scroll compressor
scroll disk working space
scroll disk contact force model
active compliance control
coordinate transformation
